Actuating device



Jan. 15 1924.

K. o NELSON ACTUATING DEVICE Filed Oct. 28. 1920 2 Sheets-Sheet 1 Ma y I M W Jan. 15, 1924.

K. O. NELSON AGTUATING DEVICE AT!0RNEYS 2 Sheets-Sheet 2 Filed Oct. 28

Patented Jan. 15, 1924.

UNITED STATES KARL O. NELSON, OF MINEOLA, LONG ISLAND, NEW YORK.

ACTUATING DEVICE.

Application filed October 28, 1920.

To all whom it may concern:

Be it known that I, KARL O. NELSON, United States citizen, residing in Mineola, Long Island, New York, have invented the following described Improvements in Actuating Devices.

My invention relates to actuating devices useful in many relations, but particularly where great exactness is necessary in the W transmission of movements, which are to be impressed upon the actuating device made the basis of its movement, or caused to give the same, corresponding or other movement to a part of the actuating device, or to it and through it, to other mechanisms, such as recorders, registers, indicators. signals, etc., etc. 7

The term, actuating device, is thus used in a broad sense to include not only devices whose function is to impart move ment to another device, apparatus or element, but also devices which serve to impart movement to a part which is an element of the device itself.

As an illustration of one of the various uses to which the invention may be put I name the recording of blood pressure, pulse, respiration and neuro-muscular control of a pilot or passenger during airplane flight to measure graphically the physiological and psychological effects of flying at various altitudes and under differing conditions.

Speaking in general terms, my invention involves calling into play and thereafter nullifying the operation of individual stops of a series adapted to limit the movement of a movable actuating element, each stop being effective for this purpose only when a power applying member with which it is associated is active, the actuating element being thereby adapted to be moved to successive different positions according to the actuation of the power applying members.

Within certain very wide limits, my apparatus may take a great variety of forms. In the drawings appended hereto, it is illustrated as both electrically operated and electrically controlled, but I am by no means limited to such operation or control, since the device may instead be controlled and operated mechanically, pneumatically or otherwise, or electrical or other means used in association with mechanical, pneumatic or other devices.

Serial No. 420,323.

My invention is built around a movable actuating element, preferably a lever, with which is associated a series of power applying members adapted to operate it. A stop is associated with each member, not necessarily as a part thereof, in order to limit the movement of the actuating element, each stop being effective to limit movement of the actuating element only when its power applying member is active, the movement of the actuating element to successively different positions according to the actuation of the power applying members being thereby accomplished. There is a series of members which co-operates with the series of power applyin members, one of these series being carried y the actuating element as a part thereof or as appendages thereto. The stops by which the extreme accuracy which is the primary object I have in view is secured, may or may not constitute part of the power applying members with which they are associated, or of the series of members which co-operate with the power applying members. These stops are stepped or graduated, that is, the distance between them and the actuating element, or the members associated therewith, increases with successive stops, not necessarily however by equal increments. The problem is to construct the apparatus in such a way that each stop will serve its purpose as such and thereafter be rendered inoperative or ineffective as a stop whether by movement out of (ordinarily beyond) its usual position or by a movement of the member co-operating with the said stop out of its normal position, the result being that the actuating element is given a succession of exact predetermined movements. This result I have accomplished without providing special or additional means for withdrawing the stops from their normal positions. Instead, the members of one or the other of the two series above mentioned, that is. the series of power applying members and the series of members co-operating therewith, are movably mounted, preferably flexibly or pivotally, so as to be in effect hinged, to permit the movement above described beyond the normal stop position. A convenient way to accomplish this is to make the actuating element itself articulated, that is to provide it with a continuous series of sections, each hinged to the one contiguous to it as illustrated in Figures 1 and 2. Instead of doing thisyhov-wever, and as will presently appear, it is obviously possible to make the actuating element of flexible material so that although it is continuous it is in effect composed of a series of sections, each of which, because of the flexibility of the element may move as on a hinge with respectto the rest. Again, as explained hereinafter, the entire body of the actuating element may be rigid and be provided with a series or with series of members flexibly or pivotally mounted thereon. The arrangement in all these instances is such as to permit swinging or bending in one direction, i. e., away from the power applying members, but to substantially preclude it in the other direction.

Provision for actuating movement in one direction is thus made, but it is also necessary where the actuating element is not re turned after each operative movement, that the actuating element should be given actuat i-ng movement in the opposite direction and through corresponding exactly predetermined increments of distance when the part, whose movements constitute the basis of those of the actuating lever, is given movemerit in the opposite direction. A given increm nt of movement is thus the same in each direction of movement of the actuating element. For this purpose of actuation in the opposite or return direction spring means is provided and so associated with the actuating element, or with the flexibly or pivotally mounted members, as to secure exact predetermined increments of movement on movement in reverse direction ofthe said part. lVhen the movable members are suflicientlyheavy, the device may be placed so that gravity can act, but springs are preferred. The manner in which this operation is secured, and each stop made effective as a factor determinative of the distance through which'the lever moves and afterwards rendered inoperative as a stop will be made clear in the detailed description of the particular embodiments of the invention chosen for illustration.

intermediate the part whose movement is to be recorded or made the basis of the actuating movement and the actuating element isvinterposed (operativelyspeaking) a con trol which maybe separate from the power applying members and. which may also be located (in an operative sense) between the master part and thepower applying memhere. The form of the control may obviously vary greatly and I donot mean to imply that the'fuirictions of actuation and control may not be combined instead of being assigned to distinct parts of the apparatus, but it serves to insure imparting to the actuating element, movement corresponding to, or at all events based upon that of the master part, whether that movement is the same as that of the master part, bears some definite and known relation thereto, or is otherwise based thereon. Such control ordinarily involves a rotatable arm given movement by the master part and co'operating'with a series of elements which correspond respectively with the individual power applying members.

as the number of "flexibly or pivotally mounted members which can be associated with an actuating element, as a lever, of ordinary dimensions is limited, it is desir able to extend the range of the apparatus by providing a plurality of levers which may be brought into play successively so that the control may he moved if desired through 860 or through even a greater angular disi ice, and in both directions. This may be done in different ways, one of which is illustrated.

in the simplest form of the device there is a single actuating element which may carry a lus which records directly on a tape suita. v moved by clockworlc The operative part of the actuating element, variously shaped to suit requirements, may, however, serve to actuate any desired apparatus with which it is operatively con nected. in either case the terri actuating devices as used herein is applicable.

l i here two or more actuating elements, as lever are used they are each operatively connected to a shaft in such a way that none interferes with the actuating operation of any other. This will more clearly appear in the detailed description of the apparatus.

Referring to the two sheets of drawings appended hereto Figure 1 is an elevation more or less diagrammatically illustrating an embodiment of my device, in which both the control and the actuating means are electric;

igure 2 is a plan view corresponding to Figure 1 looking up from below and from which the electrical connections and other details are for clearness omitted;

Figure 3 is a plan view looking up from below of a modified form of the device;

Figure 4 is a transverse section on the line lV-lV of Figure 8 looking in the direction of the arrows;

Figure 5 is an elevation of another modiiication;

Figure 6 is a plan view of the modification shown in Figure 5 looking up from below;

Figure 7 is an. elevation of another modilication, and

Figure 8 is a plan view corresponding to Figure 7 and looking up-from below.

The terms plan and elevation have been used above since they indicate the preferred and usual arrangement,but it will be understood that the apparatus need not be arranged in a vertical plane.

In the embodiment of Figures 1 and 2, l have shown two actuating levers A and B fulcrumed at is, provided respectively with actuating ends or tips a and Z) respectively taking between adjacent tooth parts on the mutilated gears a and Z) and also provided with a series of blocks or members numbered in lever A from 1 to 7 and in lever B from 8 to 14; and hinged at c which permit the opening of a gap or the breaking of the joint in one direction only between successive blocks in a manner to be hereinafter described. These blocks constitute a series of members which, in this embodiment, have correspondingly numbered cross-pieces which co-operate as armatures with a corresponding series of double electr-o-magnets, or where solenoids are employed, carry movable cores, the cross-pieces associated with the lever A being numbered 1 to 6 to correspond with the blocks of the lever A and those associated with the lever B being marked 8 to 13 to correspond with the blocks of the lever B. This it will be noted takes no account of the main portions 7 and 1 2 respectively of the levers A and B, for which are provided respectively actuating solenoids 7 and 14, or electromagnets suiiiciently powerful to attract armaturcs carr ed by these parts. In the case of a device having only one lever, it is not necessary to provide a solenoid as distinguished from an electro-magnet stronger than the rest for the part 7. All the electro-magnetic operating devices may be electro-magnets of ordinary strength, or they may all be solenoids. If the electro-magnets are powerful enough to attract their armatures through the requisite distance, they may also be used interchangeably with solenoids in the multi-lever arrangements. For some purposes the electro-magnets are preferable and for others the solenoids. The stops for the flexibly and in this instance pivotally mounted members carried by the respective actuating levers are the cores of the corresponding magnets 1 to 6 and 8 to 13, althou h, has already been stated, I do not limit myself to a construction in which the power applying members or the members corresponding therewith constitute the stops.

The several series of stops, members as sociated with the actuating lever, armatures, power applying members, electro-magnets, electro-magnet cores, and control contacts hereinafter described, may be made adjustable each as a series, or the members of each series, or of any series, may be made adjustable individually, as by set screws or in some other usual way. This statement is of general application to the various embodiments.

To prevent sticking of the armatures to the cores and permit relative sliding thereof, a s irip a of non-magnetic material, pref-- erably phosphor bronze, may be secured to the face of each armature projecting slightly beyond it, or stops of fibre or covered with fibre and so placed as to preclude actual contact of the arn'iatures with the cores may be used, or some other means capable insuring the result adopted. here the phosphor bronze strips are used, they may be placed in the longitudinal axis of each armature and occupy, say one-half of its width as indicated in Figure 2.

On reference to Figure 2, it will be seen that the ends of the cores of the electromagnets therein illustrated do not lie in parallel planes at right angles to the axes of the magnets but in planes at varying angles thereto, according to the plane occupied by the lever at the end of the given increment (if-movement against the stop in question, the lever between the stop and the fulcrum being thus unbroken, this arrangement facilitating operation but not being indispensable. l urtherm-ore, the cores are located at successively greater distances from the actuating lover, or the s ries of members carried tiereby. Obviously, instead of graduating or stepping the electro-magnets, the corresponding members carried by the lever may be gradimted or stepped, or the shape of the lever my be altered so as in effect to graduate them. Ordinarily (although not invariably) it is desired to make the movements of the operating part or tip of the actuating lever uniform, and in order to produce th s result, where, as in Figures 1. a; d 2, the stops are at varying distances from the fulcrum of the lever, the stepping or graduating of the electro-magnets is not uniform, that is, successive steps are not the. same. therwise, the difference in distance from the fulcrum of the lever would make itself apparent in movements of the tip of the actuating lover of varying lengths. The nearer the fulcrum the more effect a given movement would have on the movement of the tip of the lever. The steps are, thus successively shorter. I do not however, limit myself to an arrangement in which the increments of movement given to the levers are always uniform, since it may be desirable, and is obviously possible, to vary the increments of movement of the actuating lever tips, this involving a special arrangement of the control to be hereinafter discussed.

The cores of the solenoid I and 1a have been designated by numerals '2" and ll. Stops 15 and 16 are PI'OYlLiGCl for limiting relative movement of the actuating levers and the power applying members away from each other and toward each other respec tively. It will be understood that both these stops serve for all levers, or that each lever such stops. They are needed in connection with the operation in both directions as will shortly appear. Spring means, where gravity is not relied on, re associated with both levers to move the ,votally or flexibly mounted members carried by the as well as the lever itself'in a direction which is ordinarily opposed to the pull of the electro-megnetic or other operating means.

Where the flexible actuating element is made of thin spring steel or other elastic material additional spring means is run necessary. While it is not essential, when they are connected, to provide a spring for each such member, this is a desirable arrangement and is the one it have shown in the drawings, the springs being designated therein by the numeral 1?.

ln order to make the operation of the leclear, it will be necessary at this point to refer to the control. This may have a. series of stationary members corresponding with individual power applying members, and spaced equally or otherwise in the path of a movable member of the control, the spacing of the stops and the movement of the effective part of the actuating element corresponding to the spacing of said stationary members and being equal to, greater or less than said spacing as desired so as to result in movements of the said part of the actuating element bearing a definite ratio to those of the movable member of the control. For special and unusual purposes, the spacing of the stationary members might be unequal and the movements of the effective part of the lever equal or vice versa.

The control whether electrical or otherwise may have more than one series of sta tionarymembers corresponding to the series of power applying members, corresponding members of each of said several series oi. stationary memiers being operatively connected or related to the same power applying member. Thus where the control is electrical, the range or the actuating devices may be i creased, without adding to the number of electromagnetic devices, by using two or more successive series of contacts, each ries corresponding to the entire series 01 electro-magnetic devices or to the plurality of series of electromagnetic de vices (where there is more than one lever), and each electromagnetic device being connected to the corresponding contact or conlacts of each such series of contacts. This requires an enlarged dial where the switch is rotary. Each rotation produces a eater range of actuation than is possible where the number of series of electromagnetic power applying members is the same as the number of series of contacts.

In the electrically operated and controlled embodiment of my actuating device shown in the drawings, the control is in the nature of a rotary switch 18 having contacts nunr bored to correspond with the respective elecnatural tro-magnets or solenoids with which they are connected and god as indicated in l igure 1, the requisite current being provided by a suitable source of E. M. F. as a battery, one side or which is connected to the common return wire 19, the other side being connected with the rotatable switch arm 20, whose movement is in correspondence with or based upon that of the mas-- ter part 21, whose movements are to be recorded, or at all events made the basis of the ?tClJUfitilno' movemen of the levers. This part h sen shown s a racl: geared to a pinion on the short whicn carries the --itch arm 20. T he rammatic ell or a p c r or unenncy 1S elecl i the oper- 1 in winch KVl1Ef.

to move in clockthe operative or actuatimz .e lover or levers are caused elc tromagnets, the springs as they are permitted to V arts 01 tile lever or members acting on the inoperative ever, or what may be called lack of the ever. ll hen on the contrary the movement at the maste part 21 is in th opposite direction so as to cause the rotation of the switch arm 20 in counter cloclrw direction, it is the springs which act on the operative portions of the levers and electro-magpiets which operate upon the sla k of the levers. While the embodiment l have illustrated in Figures 1 and E2 the one preferred, I do not, as will hereinafter appear, limit myself in all instances to an operation in which there is no cooperation between the electro-magnets and springs in causing a given increment of actuating movement. l here two levers are employed. the "functions of electromagnets 1 and 8, as will be explained later, are mainly to position the respective levers that the are in reaoiness to be brought into play, but where a single lever is used each electro-magnet gives the lever an in crcment of actuating movement.

Referring to Figures 1 and 2, and considering only lever A and its operating means and the moment disregarding lever B, the operation will be as tollowsz Assuming the rotary switch arm 20 to be at the initial position, that is, in contact with contact 1, elcctromagnet 1 is ener gised and lever A is in the position indicated in Figure 9., there being no break anywhere in the lever. ll then the master part 21 moves down from the position lll OVGll 4.1 q by the i shown in Figure l, the switch arm 20 moving in clockwise direction bridges contacts 1 and 2, being made sufficiently wide for that purpose. Electro-magnet 2 is thereupon energized but since electromagnet 1 is also energized is unable to attract its armature against its core and no substantial movement takes place. As switch arm 20 moves off contact 1 while still remaining on contact 2, electromagnct l is de-energized and armature 1 slides sidewise on core 1, this being permitted by virtue of the non magnetic strips or other means for preventing sticking, and is thrown out by its corresponding spring against the stop 15,

as armature 2 is moved by electro-magnet 2 into contact with core 2 and the lever thereby given actuating movement. In its continued movement arm 20 bridges contacts 2 and 3, whereupon electro-magnet 3 is also energized but does not attract its armature against its core to effect actuating movement of the lever until switch arm 20 moving off contact 2 deenergizes electro-magnet 2 when this action takes place. In its further clockwise movement the switch arm 20 energizes the remaining magnets in, a similar manner and with like effect. At this point it is noted that it solenoids were employed instead of electro-magnets, each solenoid might be, although it need not be, independently energized, the switch arm 20 being then made too narow to bridge successive contacts and the lever being then returned by one of the springs each time a solenoid is de-energized, and if the switch were constructed to pick outitontacts without touching intermediate contacts, the energization of the solenoids might be in any desired order.

Of course the contact arm 20 may be moved backward or counter-clockwise at any time by reverse movement of the master part 21 when the resulting operation will be as follows: Assuming the switch arm 20 to be upon the contact 7 corresponding to the solenoid 7 and the member 7 of actuat ing lever A therefore attracted against the stop 16, there being a gap between sections 6 and 7 of the lever and the lever being rigid in both directions therefrom, further counter-clockwise movement of the switch arm 20 causes it to bridge contacts 7 and 6, thus energizing also electro-magnet 6. which attracts its armature and partially closes the gap between sections 6 and 7 but does not give the lever registering movement, since the part of the lever operated on is the inoperative part or slack of the lever. Further movement in the same direction of switch arm 20 off contact 7 de-energizes electro-magnet 7, electro-magnet 6 continuing to be energized, and the gap between sections 6 and 7 is then closed by the corresponding spring 17,'thus imparting to the lever actuating movement in reverse direction to that in which it is moved by the electro-magnets in the clockwise movement of the switch arm 20. Further continued movement of the switch arm 20 bridges contacts 6 and 5, whereupon both the corresponding magnets being energized the gap between sections and 6 is partially closed without, however, giving the lever actuating movement. On the further movement of the switch arm electro-magnet '6 is de-energized while electro-magnet 5 remains energized, thereby allowing correspending spring 17. acting upon section 5, to completely close the gap between sections 5 and 6, thus giving the lever registering movement in reverse direction. In all this action the stop 15 comes into play to enable the springs to hold the lever in proper position to permit the action described and to prevent the armatures from moving out of range o their magnets.

Where, in order to give greater range to the apparatus more than one lever is employed, a common shaft 23 for actuation by the various levers and carrying mutilated gears 11. and b for co-action respectively with lever tips a and b is provided, these mutilated gears having a plurality of teeth spaced according to the total angular distance corresponding to the sum of the increments of movement of the entire series of pivotally or flexibly mounted members, or the distance to the furthest stop. The arrangement is such that at about the time when a lever has moved through its entire range, its tip is thrown out of contact with the tooth with which it has been co-acting, and by the rotation of the shaft effected by the movement of the said lever through its range, a tooth of the gear with which another lever is designed to cooperate is brought into position for actuation thereby through the tip of that lever, the same bein then in position to co-act with said tooth. just as the tip of the first lever previously did with the tooth of the first gear, all as presently explained more in detail. In the illustrated construction each mutilated gear has 3 teeth spaced apart 120 degrees and each mutilated gear is staggered with reference to the other so that its teeth are midway the teeth of the other mutilated gear. This shaft 23 may be part of any mechanism to be. actuated or may actuate other parts as for instance the stylus 24 carried by the rack 25 sliding in guides 26 and driven by gear 27 carried by shaft 23. The stylus cooperates with clock driven paper web feeding mechanism C. In. apparatus of this sort, as will shortly more fully appear, the main function of electro-magnets 1 and 8 is to position their respective levers and 0t solenoids 7 and 14 to remove the tips of their respective levers to positions in which they are out-of the-way and to bring armatures 6 and 13 within range of t ieir elect-ro-. magnetsJ it should be added, however that when all the electro-magnetic devices corresponding to a given actuating lever are ClQ-el'lGl'giZOd, the tip of that lever is by its spring means thrown out of the way of the adjacent tooth of its mutilated gear so as not to interi'ere with the operation ot the other lever.

Where two or more actuating elementsv as levers, are employed it is necessary as suggested, to position each lever correctlyso that its effective part or tip occupies the right relation to the adjacent tooth oi? its mutilated gear, anl so as to remove the tip of each lever from the tooth with which i co-acts at the time when the other lever provide means for bringing the armature ot the last electro-magnet, e, 6.; near enough the core of the said magnet "so that it may be within range of attraction. The contacts 4 where the control is electrical are so ranged as to accomplish theseresults and to hold the tip of the or, which is to be inoperative out 01 contact 'nl b'll its tooth lone enough to permit the tooth to move out of co-acting range after whi'h it is no longer necessary that the lever tip he held. this position. The requisite. arrangement of the control contacts and the operation oi mult ple level device will be plain from the followi explanation and description. In l -i ure 1 the rotary switch arm 20 is illustrat as in start ng position and as connecting w t the batterycontacts 1 and l? and the magnets c wresponcling ther to. The energization ot the magnet 1 moves the lever from neutral position. that is. Irom a posit on inwh ch it is not attracted by any mage* to the positionin which it is ready tor operation with its acturt g t p iii-proper r lation to the correspond tooth oi lillitllthed .Q'QEU a. .s it this time there-areiio breaks in the lever. Eneii'oiz t on oi the electrom net l9, has no effect on It? armature'the arr ture heinc' at too gr a 'st nce to he at tracted Th s on p'aon th lever B is in neutral po s the switcharui moves in clockwis direction it ene gizes also electro-magnet 2 and solenoid lo l electromaguet 2 act ng in a manner already ex plained and solenoid l4: att actin 'ts core and moving the tip Z) oi. thle er out 01: con tact with the corr l'ilatevl gear l3. .1 cc another contact coirosponding with thosolenoid 1 is lccatcc in line radially withcontact 3, the solenoidire mains energizedand the tip 6 man inoperative position so longas the magnet 8 is energized. From this, it results that when the solenoid l4- de-energized by the movement OftllG switch arm 20 otl'its contact the tip Z of the lever B can move down without having any actuatin; effect, no tooth being so placed as to co-operate with it at that time.

After passing over contacts l and 5, the

switch arm simultaneously energizes magnets 6 and 8, 6 being the last actuatingn a net for lever A and. 8 being the positioin magnet for lever B, vhich is thus placed with its actuating tip in proper relation with the correspon ding tooth on its mutilated gear Z) to be ready to ac when on the t ther D'lOVQflQIItOl thesvz'itch arm 20. the electro-magnet 9 is energized.

At thi ime the solenoid 7 is energized and at once on crates to attract the section 7 of its :l and throw the actuating tip (I out ol .c with its correspondin tooth-ot the unit gear o, the lever being retained in tl sition while the electroniagiiet 10. is crier gized, there being a second contact 'l in r; dial alignment with contact- 10 ll hen both 9 and lO are de-energized hy the movement 01 the switcharm 20 oil their cont: cts the return of the tip a", as above explained, does not interfere with the operation of the de vice. Electro-magnetsll and '12 are actuated in the "further passage of the switch arm in the manner which will be clearfrom air-matures iteit'erring to sheet 2 ot the drawings. the modifications illustratedthereon are by no means exhaustive cit the various terms which my-inventionmay talcc but will serve to indicate some of the ditl'erent emhodiments of which it is capable; In the morliilicationshown IILFlgS. 3 and 4, thelever Axis rigid and carries a series of pairsot -opposite members numbered from 1 to San ho lii:

Nil

' connection with Figure 1, a suitable control being provided. lVhere more than one lever is employed, solenoid 7 with core 7 is added to the described series. There is one difference in the operation of this form of the invention from that of the form illustrated in Figures 1 and 2. Tu the embodiment of Figures 3 and 4. the springs and the electro-magnets co-operate in the reverse movement whereas in that of Figures 1 and 2, the springs alone produce the reverse movement as above explained.

It will be apparent that the members 1 to (5 instead of being made movable, may be made integral parts of lever A or braced therefrom so as not to be independently movable, and that the corresponding electromagnets 1 to 6 instead of being fixed may be mounted movably, slidably, or by pivoting separately each member or each pair of such devices, and be provided with spring means for returning them to normal position with stops to prevent their moving beyond it.

The modification shown in Figures 5 to S are designed primarily to illustrate the fact that the operating arm of the lever, where the actuating element takes the form of a lever, need not change but may be invariable. In Figures 5 and 6, the actuating element is shown as a rock shaft or lever 28 with actuating part or tip a co-operating with mutilated gear a on shaft 23 and having a series of parallel arms 29 to each of which is hinged at 0 a member 1, 2, 3 as the case may be, these members being acted upon by springs 17". A. series of electro magnetic devices 1, 2., corresponding with themembers l, 2, 3 which carry correspondingly numbered armatures. is provided, the cores ot these devices, or a corresponding series of stops, being stepped as icretotore explained. Spring 17 a ts on the lever 28 and springs 17 act on the members 1, 2, 3 in opposition to the electro-magnets. The operation of this modification is the same as that of the form shown in Figures 1 and 2. It will be appreciated that the number of members 1. 2, 3 and of corresponding electro-magnetic devices may be increased and that more than one of the rock shafts or levers 28 may be provided so as to give a multiple arrangement on the order of the multi-lever devices already explained, in which case throw of? solenoids or electromagnets may be used.

The modification shown in Figures 7 and 8 involves the lever A. which, for symmetrr cal operation may have two diametri ally opposed arms projecting in. opposite directions, each of these arms being composed of a series of articulated sections 1, 2, 3, 4-, hinged together and to the body of the lever A, as indicated at c. Springs 17 are provided for each of these sections. A series of electroanagnets 1 to 4t is located to act as power applying devices for the respective sections and lever. In this form, the cores of the electro-magnets are stepped, but as above explained, stops forming no part of the electro-magnets may be employed. Non magnetic strips or buttons m on the armatures carried by the sections prevent sticking. The planes of the core ends of the electro-magnets may be varied to effect the same object as that achieved in Figure 2. It will be understood that where the arrangement is symmetrical, the control is so constructed that both magnets of a given pair are actuated at the same time as the magnets 1, 1, the magnets, 2, 2, etc., as the case may be. Except for twisting effect, a single arm and single set of magnetic devices is sufficient, and the device is operative in this form.

The invented construction is of a robust character as distinguished from the customary delicate apparatus, which has been considered necessary where minutely accurate operation was essential. It may there fore be utilized in situations where the apparatus will be subjected to sudden and violent bodily movement, to vibration or to rough treatment which would preclude the use of delicate apparatus. As will be evident from the foregoing specification, my actuating device may be used not only for producing actuation in ac urate accord with movements of a given part, but to produce a magnified or a reduced actuation in a (given) ratio, or even, if desired. movements not invariably in a single definite ratio to those of the given part.

It will be apparent that the actuating devices of my invention may actuate directly a complete apparatus, or operate a control lover, or other control. which in turn in sures the desired operation of further apparatus by other power it that be preferred.

I may add that the members associated with or carried by the actuating element need. not for all purposes be of the same length and that the spacing of the power applying members from each other may varv correspondingly.

Claims:

1. Actuating devices comprising in combination, a movable actuating element. a series of power applying members adapted to operate it, and a stop associated with each such member adapted to limit the movement of said actuating element. each stop being effective to limit movement of said actuating element only when its power applying member active and, thereby adaptin said actuating element to be moved to successive the movement of said actuating; element,

each stop being efi ective to limit movement of said actuating; element only when its power applying member is active and thereby adapting said actuating element to be moved to successive different positions according to the actuation of the power applying members.

3. iictuating devices comprisingin com-- bination a movable actuating element comprising relatively movable members each subject to actuation by force applied thereto and when so actuated to impart movement to tl said actu .na' element opcrating means for said actuat' element comprising a or power apply .n mom-- bers each corresponding to one of the movable members of the actuati c element each power applying): member being arranged to move i corresponding movable member through a predetermined range of movement of the actua ing element, and stop to limit each movable mcmbers movement and determine the position of the actuating element each stop being effective as such only when its power applying member is active.

at. actuating devices comprising in combination a movable actuating elen ent, a series of members. a series of power applying members corresponding thereto, toe members oit' one or said series being; capable of relative movement, one of said series being carried by the actuatinq element and both of said series being; associated with the actuating element, and a series of stops also associated with the actuating element whereby the stops are effective to determine the era tent of successive movements of the actuating element but are thereafter rendered temporarily inoperative as stops.

5. Actuatinp; devices comprising in combination, an actuatingelement,- a master part the movements of which are to be made the basis of movement of the actuating element a series of members associated with the actuating element, means operatively related to said master part and to said members for giving controlled actuating movement to said actuatingelement. and a series of stops determining the extent of successive movements of the actuating element. the actuating element carrying one of the two structural elements constituted by said series of members and said means.

6. Actuating devices comprising in combination, an actuating element, a series of movably mounted members a master part the movements or which are to be made the basis of movement of the actijiating element, means operatively related tosaid master part and to said movably mounted members for giving controlled actuating movement to said actuating element and a series oi stops determining successive increments of movement of the actuating element and becoming so. cessiveiy and temporarily inoperative as stops after having acted as such. the actuatlllfj element ying one of the two structural elements const-itu 'ied by said series oi? movably mounted members and said means.

Y. Actuating devices comprising in combination, an actuating lever. a series oi? hing;- ed members, associated vith the lever, a master part the DIOVOiTaGliiLS oi. "which are to made the basis of" movement of," the actu atingz lever. means opcratively related to said master part and to said hii ed members tor givin controlled actuating movement to said lev r. spring means associated with said hinged members, and a series of stops determinine SUCCQE-if-JlVO increments of move ment of the lever. the lever carryingone of the two structural elements constituted by said se-ies ct hinged members and said means.

8. Actuating devices comprising in combinatiom an actuating element. a control having); irregular movement. a series of movably mounted members, means operatively related to said control and to said movably mounted members whereby the movement of the latter d on that of the former, and a series of stepped stops associated with the actuating elementand determining successive increments of movement thereof, said element carrying); one of the two structnral elements ci'instituted by said series of movably mounted members and said. means. i

9. Actuating devices comprising in combination an actuafing; element a series of hinged members. a series of power applying mei'i'ibers corresponding thereto. one oi? said series being; carried by the actuating element and the members oi one of said series be. hinged. a series of stops corresponding to the hinged members. and spring means til) applying members, and means for causing the operation of said control in subjection to movement to be made the basis of actuation.

ll. iictuating devices comprising in combination, an actuating element subject to actuation by power applied thereto, a series of members associated with said actuating element, a series of power applying members corresponding to said members, one of said series being carried by the actuating element, the members of one of said series being flexibly or pivotally mounted, a series of graduated stops corresponding to the members of the series carried by the actu ating element, a control, operative connections between said control and said power applying members, and means for causing the operation of said control in correspondence with movement to be made the basis of actuation, the flexible or pivotal mounting of the members permitting the stops after having acted as such to become successively and temporarily inoperative as stops.

12. Actuating devices comprising in combination, an actuating element subject to actuation by power applied thereto, a series 01' movably mounted members, power applying members therefor, one of the two structural elements constituted by said power applying members and series being carried by the actuating element, a control, operative connections between said control and said power applying members, spring means for actuating said movably mounted members, and means for causing the operation of said control in correspondence with movement in either direction of the part whose movement is to be made the basis of opera tion of the actuating device, whereby said actuating element is given actuating movement whatever the direction in which. said control moves.

1?). Actuating devices comprising in combination, an actuating element subject to ac tuation by power applied thereto, a series of movably mounted members associated with said actuating element. means movable in. opposite directions in response to the movement to be made the basis of actuation of the actuating element and operatively related to said. movably mounted members for giving controlled actuating movement to said actuating element whatever the direction in which said means moves.

l4. Actuating devices comprisingin combination, a control whose movement is to be made the basis of actuation of the actuating devices, a series of operating pairs, a movable actuating element carrying one member of each of the operating pairs, one set of members of said pairs being each movably mounted, and operative connectionsbetween said control and said operating pairs Where by said actuating element is itself actuated according to the actuation of the. operating pairs.

15. Actuating devices comprising in combination, an actuating elementsubject to actuation by power applied thereto, a series of hinged members carried by said actuating element, means including power applying members for actuating said hinged members and controlling their movement in subjection to irregular movement and a series of stops for said hinged members acting as such and being thereafter rendered temporarily inoperative as stops by virtue of the hinged mounting of the members referred to.

1G. Actuating devices, comprising in combination, an actuating element subject to actuation by power applied thereto, a series of members hinged thereon, spring means for moving said hinged members in one direction, a series of power applying members corresponding to the members of said first series, a series of stops severally associated with said power applying members, said stops being located at different distances from the hinged members to which they resepectively correspond, a master part, and operative connections between said master part and power applying members.

17. Actuating devices comprising in combination, an actuating element subject to actuation by power-applied thereto, a series of members hinged thereon, a series of stepped power applying members corresponding to said hinged members, spring means tending to move said hinged members away from the power applying members, stops for limiting the movement of said actuating element in opposite directions, and a control responsive to movements to be made the basis of actuation of the actuating devices and operatively connected with said power applying members, said control having a plurality of spaced members corresponding to individual power applying members.

18. Actuating devices comprising in combination an actuating lever, a series of movably mounted members, a corresponding series of power applying members, one of said series being carried by the lever, said series extending in the direction of the length of the lever, a series of stops corresponding with the series of movably mounted members and located at successively greater distances therefrom as the series approach the fulcrum of the lever, a control for said actuating devices, operative connections be tween said control and said power applying members whereby the movably mounted members are first brought into contact with successive stops and then by virtue of their movable mounting are moved beyond them.

19. 'Actuating devices comprising-in combination, an acti' atfingjlever subject to actu ation by power applied thereto, a series of members associated with said lever, a come spending series of power applying members, one of said series being carried by the lever and the members of one of said series being relatively movable, both said series extendingr in the direction of the length of the lever, a series of stops corresponding with the series carried by the lever and located at successively greater distances therefrom as the series approach the fulcrum of the lever, these distances being; varied to compensate for the difference in distanceof the respective pairs of: members of the two series from the tulcrumto give the actuating end of the lever equal increments of movement, a control for said actuating devices, operative connections between said control and said power applying members whereby the members carried by the lever are first brought into contact with successive stops and the lever is then by virtue of the movable mounting of the movable members moved beyond the original stop position.

20. actuating devices comprising in com-- bination, an actuating lever subject to actuation by power applied thereto, a series of pivotally or flexibly mounted members. opcrating means operatively related to individual pivotally or flexibly mounted members of the series whereby power is applied thereto, spring means also operatively re lated to said members acting in opposition to the said operating means, one of the said series being carried by the lever, a master part, and operative conne one between and said operating means Ior causing the latter to move in manner determined by the movement 01? the master part,said operating; means giving actuating movement to the operative part of thelever in one direction at which time said spring; means operates on the inoperative part or slack of the lever, whereas on the reverse movement of the lever, said spring means operates on the operative part thereof and said. operating means on the inoperative part or'slaclr of the lever.

21. actuating devices comprising in combination an actuating element subject to ac tuation by power applied thereto a series of members associated with said actuating ele meet, a series of power applying members corresponding to said members, one of said series beingcarried by the actuating element and the members of one or said series being relatively movable, a control having a plurality of spaced stationary members and a member movable with reference there to in accordancewith movements which are to be made the basis .got actuation' of the actuating devices, operative connections between said stationary members and "said power applying I membersfthe movable member'of thee 2' dap eid to ne or (lo-energize individually biit'to' main operating condition at the "same time, adj ain energized or operating condition at the same time adjacent members of the series of operating means, and a series of stops corresponding to the members of the series carried by the actuating element and spaced TU therefrom successively greater distances, whereby members of the series carried by the actuating element are moved successively into contact with the corresponding stops and then on the de-energiaation ot' the corresponding operating; means yields to permit the next successive stop to come into play.

22. Actuating devices compris' in combination, an actuating element subject to 30 actuation by power applied thereto, a series or members associated therewith, a series of power applying mom arsccrrespt riding to said members, one of said series bei' carried by the actuatin element, and the members of one of said s Les being mounted to permit relative movement, a control having av plurality of spaced stationary members and a member movable with reference thereto in accordance with movements which are to be made the basis of actuation of the actuating devices operative connections be tween said stationary members aim said power applying members, the movable member of the control being adapted. to enerc'ivie or tie-energize individually but to ma; iain in energized or operating; condition at the same time adjacent members oi? the of power applying members, and a series of stops corresponding to the members e? the series carried by the actuating elemen and spaced [therefrom successively greater distances whereby the members of the series carried by the actuating element are moved successively into contact with the cor-re spending stops, and then. on the (lechergization of the corresponding power pplyinfg'members, yield to permit the next sliccessive stop to come into play.

23. Actuating devices con'iprisiagz in con1- bination, an actuating element subject to actuation by power applied thereto, a series of members associated therewith. a series of means corresponding thereto one oi"- said series being carried by the actuating}; element and the members of one ct said being relatively movable s- I ciing to move the movably .tr-d members in a direction ordinal opposed to th: the application or" power by the one at means, a control havi a plural ty or spaced stationary members aid a member movaliile with reference thereto in arcordance with movements which are to be ma de the basis of actuation, o erative connections between sffaid stationarymembers and said operating means, themovable member of the control be ,fadapt ed to energiselor de-ene e'ize in r v dually, but to m intain in energized or cent members of the series of operating means, and a series of stops corresponding to the members of the series carried by the actuating element and spaced therefrom successively greater distances whereby the members of the series carried by the operating element are moved successively into contact with the corresponding stops and, when the control is moving forward, then on the de-energization of the corresponding operating means, yield to permit the next successive stop to come into play and, when the control is moving in reverse direction, then on the de-energization of the corresponding operating means, move away from th corresponding stop and actuate the actuating element.

24. Actuating devices comprising in combination a movable actuating element, a series of members, a series of electromagnetic power applying devices corresponding thereto, the members of one of said series being capable of relative movement, one of said series being carried by the actuating element and both of said. series being associated with the actuating element, an automatic control for said electromagnetic power applying devices, and a series of stops also associated with the actuating element, whereby the stops are effective to determine the extent of successive movements of the actuating element but are thereafter rendered temporarily inoperative as stops.

25. Actuating devices comprising in combination an actuating element subject to actuation by power applied thereto, a series of members, a series of electromagnetic operating devices corresponding thereto, one of said series being carried by the actuating element, and the members of one of said series being mounted for relative movement, a source of E. M. F., and an electric switch controlling the connections between said source of E. M. F. and said electromagnetic operating devices, said switch having a series of contacts corresponding to the re spective electromagnetic operating devices and having a contact movable with reference to said contacts in subjection to movements which are to be made the basis of actuation.

26. Actuating devices comprising in combination, an actuating element subject to actuation by power applied thereto, a series of individual members hinged thereon, a series of elcctromagnets corresponding to said individual members and having their cores located at successively greater distances "from the corresponding members, spring means for moving said members away from said electromagnets, a source of E. M. F., a rotary switch having a series of contacts corresponding to said electromagnets and electrically connected therewith and with said source of E. M. F., a master part whose movement is to be made the basis 01' the movement of said actuating devices, and operative connections between said master part and rotary switch.

27. Actuating devices compris ng in combination an actuating lever subject to actuation by power applied thereto, a series of movably mounted members carried thereby, a series of electromagetic operating devices corresponding to said movably mounted members, spring means acting on said movably mounted members in the opposite direction to the pull of said electromagnetic operating devices, and a switch having stationary contacts corresponding to said electromagnetic operating devices and a movable member connected to a source of E. M. F., to the other side of which the electromagnetic operating devices are connected, said contact-s being spaced and said movable member being wide enough to bridge a pair of adjacent contacts whereby a pair of adjacent electromagnetic operating devices successively energized and deenergized are maintained energized at the same time.

28. Actuating devices comprising in combination, a plurality of actuating elements subject to actuation by power applied thereto, a series of members corresponding to each such element, power applying members corresponding to each actuating element, one of the structural elements constituted by said series of movably mounted members and power applying members being carried by each actuating element, a series of stops for each actuating element, said power applying members giving the respective actuating element movement ordinarily 1n the opposite direction, a common shaft mounted in operative relation to said actuating elements for actuation thereby, means for positioning each of said actuating elements with reference to said operating sl'iaftimmediately before that element is to be brought into play, and means for moving the end of each actuating element out of actuating relation with said shaft at about the time another such element comes into play.

29. Actuating devices comprising in combination, a plurality of actuating levers, subject to actuation by power applied thereto, a shaft mounted for actuation by said levers, staggered mutilated gears on said shaft corresponding to the respective lovers. a control movable in opposite directions in accordance with the movement which is to be made the basis of actuation of said shaft. means for giving actuating movement in both directions to said levers, and operative connections between said control and said means, said control and means including means for locating the tip of each lever in proper relation to its respective gear when said lever is about to be brought into play,

and means for removing the tip of. each lever from operative relationwith said shaft' at about the time when another lever is brought into play.

30. rictuating devices comprising in combination, a plurality of actuating levers subject to actuation by power applied thereto, a series of members movably mounted o-n each of said levers, series oi electromagnetic operating devices corresponding to the movably mounted members of each of said series, a source of E. M. E, connected to the electromagnetic operating devices of said series. a rotary switch controllingconnect-ions between the source of E. M. F. and the electromagnetic operating devices, a master part, the movement of which is to determine the movement of the actuating devices, and operative connections between the master part and switch. l

31. Actuating devices comprising in combination a plurality of actuating levers sub ject to actuation by power applied thereto, a series or" movably mounted members corresponding-to each lever, a series of electromagnetic operating devices corresponding to each lever, one of said series of movably mounted members and electromagnetic operating devices being carried by each lever, a series of stepped stops corresponding to each lever, stops for limiting the movement of each lever in both directions, springmeans for moving the movably mounted members in one direction, a shaft for actuation by the ends of said actuating levers, mutilated gears corresponding to said lever ends mounted on said shaft in staggered relation to each other, a source of E. M. F. and a rotary switch having a series of spaced contacts corresponding to said seriesof electromagnetic operating devices and connected therewith and an arm connected with said source of E. M. F. to the other sideof which said electromagnetic operating devioes are connected and movable in both directions with reference to said contacts in accordance with the movements which are to serve as the basis of actuation. h

32. Actuating devices comprisingin combination a plurality of actuating levers subject to actuation by power applied thereto, a series of movably mounted members corresponding to each lever, a series of electromagnetic operating devices corresponding to each lever, each such series of electromagnetic operating devices including a positioning device at the beginning of the series and a throw-0H device at the nd, the other electromagnetic operating devices of the se ries being actuating devices ""-o'per,}one of said series of movably. mounted and electromagnetic operating devices being carried by each lever, 'series, r'steppea stops corresponding to each invest) for actuation by the ends of said actiiating levers,mutilated gears corresponding to said leverends mounted on said shaft 1n stated relation to each other, and a rotary switch having contacts corresponding to all the each other for simultaneous cnergization,

there being an extra or second. contact cor responding to the throw-oil means of each lever and these throw-oil contacts being located adjacent the contacts ccrres xonding to the first two operating means or? the next lever, a source or" E. M. 1 and an arm connected with said source of E. M. ll. to the other side of which said electromagnetic operating devices are connected and movable in both directions with reference to said con tacts in accordance with movements which are to serve as the basis of actuation.

Actuat'ing devices comprising in combination, a plurality of actuating levers sub ject to actuation by power applied thereto, a series of electromagnetic devices tor each lever, a corresponding series of members for each lever, one of said series of electromagnetic devices and members being movably mounted and one of said series being carried by each lever, spring means operative on one of said series in a direction opposed to the pull of the electromagnetic devices, a shaft mounted for actuation by said levers, mutilated gears mounted in stepped relation on said shaft for co -action respectively with the ends o1 difiercnt actuating levers, one of the electromagnetic devices of each series acting to position the actuating end of it-s lever with relation to the corresponding tooth on its mutilated gear when said lever is about to be brought into play, and another of the electromagnetic devices of each series removing the actuating end of its lever from coaction with the corresponding tooth of its mutilated gear at aboutthe time when another lever is brought into play, a source 01'. E. M. 1 a. rotary controlswitch comprising a switch arm con nected to said source of E. ill. E, and a series of contacts corresponding to the various electromagnetic devices. and movable in correspondence with. movements which are to. be made the basis of actuation. the con tacts otthe control switch being so related as" to effect the operations referred to at the t me s at i 34. Actuating devices comprising in combination, a plurality of actuating levers subject to 'actuation by power applied thereto, aseries of hingedmembers corresponding to each lever, a series of electromagnetic operating devices corresponding to each leve yat lea t, n .0 a at said ies o electromagnetic operating devices being a solenoid, one of said series of hinged members and electromagnetic operating devices corresponding to each lever being carried thereby, a series of stepped stops corresponding to each lever, a stop for each lever adjacent its solenoid, a stop for limiting movement of the lever in the direction opposite to that in which it is moved by the electromagnetic operating devices, spring means for moving the lever toward said last mentioned stop, a shaft for actuation by the ends of said actuating levers, mutilated gears corresponding to said lever ends mounted on said shaft in staggered relation to each other, a source of E. M. F., a rotary switch having an arm connected with said source of E. M. F., movable inboth directions in accordance with the movement of the part whose movements are to serve as the basis of actuation, and a series of contacts corresponding to said series of electromagnetic operating devices, the first of each set of electromagnetic devices acting to position the actuating end of the lever which is about to be brought into play in proper relation with its mutilated gear for co-action therewith, and the last of each series being a solenoid whose actuation moves the actuating end of its respective lever out of actuating relation with its corresponding mutilated gear at about the time when another lever is to be brought into play, the contacts representing the electromagnetic devices designed to give actuating movementto the respective levers being located in their regular order, the contacts corresponding to the positioning electromagnetic devices being located adjacent the last actuating electromagnetic device of the next lever, so that said magnets are energized at the same time and the Switch having two contacts for each solenoid located opposite adjacent contacts of the first two on the last two actuating magnetic devices of the next series.

Actuating devices comprising in combination, two sets of actuating means each comprising a lever, a series of pivotally or flexibly mounted sections carried thereby, armatures on said sections, a series of electromagnets corresponding to said armatures, a series of stops for said armatures, the first stop being nearest to and successive stops being at successively greater distances from their corresponding armatures, a controlling switch having contacts corresponding to said electromagnets and respectively connected therewith, a rotary switch arm having a contact wide enough to bridge two successive contacts, means for moving said switch arm in correspondence with movements to be transmitted to the actuating means, spring means tending to move said flexibly or ivotally mounted sections carried by said evers in the direction opposite to that in which the lever is moved by the electromagnets, whereby on the movement of the switch arm in clock-wise direction, the lever is moved against a stop and then as the switch arm moves off the contact corresponding to the first of the energized magnets, the lever moves to the next stop etc. and whereby when the switch arm is moved in counter-clockwise direction, the lever is held against one of the stops, and when the contact arm moves off the contact corresponding to the electromagnet, which is next in the direction of the fulcrum of the lever to deenergize the same, permits the spring to move the lever in the opposite direction to that in which the electromagnet moves it.

36. A recorder comprising in combination a control movable in opposite directions in correspondence with movements which are to be made the basis of the record, a stylus, an actuating lever operatively connected therewith, a series of pivotally or flexibly mounted members carried by the lever, a corresponding series of operating means, a series of stepped stops corresponding to said pivotally or flexibly mounted members, and operative connections between said control and said operating means.

37. A recorder comprising in combination, a control, means for movlng the same in correspondence with movements which are to be recorded, a stylus, a shaft operably connected thereto, a plurality of gears on said shaft, a plurality of sets of actuating mechanism, one for each of said gears and comprising levers having hinged sections, a series of operating means corresponding to articular sections, a series of stops for sai sections arranged at successively increasing distances therefrom, and spring means for actuatin the lever in reverse direction, and o erative connections between said control an both said sets of actuating means.

In testimony whereof, I have signed this specification.

KARL O. NELSON. 

